Fuzzy-enhanced finite-time sliding mode disturbance rejection control for electric stabilizer bars
摘要
Active stabilizer bars are widely used in modern vehicles to enhance roll stability during high-speed cornering. However, most existing studies focus on hydraulic stabilizer bars, whereas the control of electric stabilizer bars, whose dynamics are more nonlinear and sensitive to disturbances, has received far less attention. This paper proposes a novel integrated robust control framework that combines Nonlinear Active Disturbance Rejection Control (NADRC) with Finite-Time Sliding Mode Control (FTSMC), in which the switching gain of the FTSMC law is adaptively adjusted using a fuzzy logic system. The proposed method introduces three key innovations: (i) a fuzzy-based FTSMC strategy that effectively suppresses chattering while preserving fast convergence; (ii) an enhanced disturbance rejection mechanism using an Nonlinear Extended State Observer (NESO) to estimate parameter uncertainties, external disturbances, and the lifting torque; and (iii) refined nonlinear vehicle and stabilizer bar dynamic models to compute the desired control torque. To validate the approach, simulations are performed under multiple high-speed steering conditions, including J-turn and sinusoidal steering inputs, and compared with conventional controllers. The results demonstrate that the proposed controller significantly reduces fluctuations in roll angle, roll rate, and vertical tire force. It also achieves a maximum current tracking error of less than 0.08 A and an RMS error of approximately 0.02 A, while maintaining an observation error of around 0.2%. These findings confirm that the proposed control architecture substantially improves robustness and rollover stability, providing strong potential for practical implementation in advanced automotive mechatronic systems.